Current Status of Patent Research on Picking End Effector

Background: Fruit and vegetable picking, as the most important part of fruit and vegetable production, is a labor-intensive industry. Fruit and vegetable picking robots can effectively improve the efficiency of picking and reduce labor requirements. As the most important part of the picking robot, the picking end-effector effectively plays a key role in improving the picking efficiency and ensuring the whole-ness of the fruit. Therefore, the development trend of picking end effectors has received more and more attention. Objective: The study aimed to solve the problems of high labor consumption and low picking efficien-cy of manual picking; thus, the grasping method of the picking end effector has been continuously im-proved. Methods: This article has presented various representative patents related to the picking end effector, such as the suction end effector, multi-finger end effector, and bionic end effector. Results: Through the investigation of a large number of picking end effector patents, the current prob-lems, such as low accuracy and large clamping damage, are summarized and analyzed. In addition, the future trends of fruit and vegetable picking end effectors are discussed. Conclusion: The optimization of the picking end effector is conducive to reducing manual labor and improving the picking rate of fruits and vegetables. More relevant patents will be invented in the future.